step.calibration.calibrate

Unified calibration step (distance + IR sensors).

Classes

Calibrate

Run a unified distance and IR sensor calibration.

Module Contents

class step.calibration.calibrate.Calibrate(distance_cm: float = 30.0, speed: float = 1.0, persist_to_yaml: bool = True, ema_alpha: float = 0.7, calibration_sets: List[str] | None = None, exclude_ir_sensors: List[raccoon.sensor_ir.IRSensor] | None = None)

Bases: step.calibration.calibrate_distance.CalibrateDistance

Run a unified distance and IR sensor calibration.

This is the recommended all-in-one calibration entry point. It drives the robot a known distance, prompts the user to measure the actual distance traveled, then adjusts the per-wheel ticks_to_rad values to correct odometry. After distance calibration, it automatically calibrates IR sensors by sampling them during a drive over the calibration surface(s).

Calibration values are persisted to raccoon.project.yml using an exponential moving average (EMA), so the baseline converges toward the true value over multiple calibration runs.

Prerequisites:

The robot must have drive motors with encoder feedback and a configured kinematics model. For IR calibration, IR sensors must be registered in robot.defs.analog_sensors.

Parameters:

  • distance_cm – Distance (in cm) the robot drives during calibration. Longer distances yield more accurate results.

  • speed – Drive speed during the calibration runs, as a fraction of max speed in [0.0, 1.0]. Lower speeds reduce wheel slip and usually produce more accurate calibration.

  • persist_to_yaml – If True, write the EMA-filtered baseline back to raccoon.project.yml so it persists across runs.

  • ema_alpha – EMA smoothing coefficient between 0.0 and 1.0. Higher values produce slower convergence but a more stable baseline.

  • calibration_sets – List of named IR calibration surface sets to run (e.g. ["default", "transparent"]). Each set beyond the first triggers an additional drive-and-sample cycle.

  • exclude_ir_sensors – List of IRSensor instances to skip during IR calibration.

Example:

from raccoon.step.calibration import calibrate

# Basic calibration with defaults
calibrate()

# Custom: longer drive, two IR surface sets
calibrate(
    distance_cm=50.0,
    calibration_sets=["default", "transparent"],
)